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rotaryWingCollisionAvoidanceController.h
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1 /*******************************************************************************
2 ** Copyright (c) 2000 MAK Technologies, Inc.
3 ** All rights reserved.
4 *******************************************************************************/
5 
8 
11 
12 #pragma once
13 
14 #include "vrfmodel/rotaryWingMoveToControllerComponent.h"
15 #include <vl/hostStructs.h>
16 #include "vrfobjcore/managedObjectList.h"
17 
18 #include <vl/objectId.h>
19 
20 class DtRotaryWingColAvoidanceControllerDescriptor;
21 
26 #include "vrfmodel/vrfmodelDefines.h"
27 class DT_DLL_vrfmodel DtRotaryWingCollisionAvoidanceController : public DtRotaryWingMoveToControllerComponent
28 {
29 
30 public:
31 
34  DtRotaryWingCollisionAvoidanceController(const DtString& name,
35  DtVrfObject* owner,
36  DtSimManager* simManager,
37  DtComponentDescriptor* desc = 0,
38  DtReaderWriterRegistry* parentRegistry = 0);
39 
41  virtual ~DtRotaryWingCollisionAvoidanceController();
42  virtual bool init();
43 
45  virtual void tick();
46 
48  virtual DtVrfObject * detectCollision();
49 
50  virtual bool checkEntityForCollision(DtVrfObject * collidee);
51 
53  virtual void avoidCollision(DtVrfObject * collidee);
54 
56  virtual void processExistingCollision();
57 
60  virtual const char* type() const;
61 
65  static DtSimComponent * creator(const DtString& name,
66  DtVrfObject* owner,
67  DtSimManager* simManager,
68  DtComponentDescriptor* desc = 0,
69  DtReaderWriterRegistry* parentRegistry = 0);
70 
72  virtual bool distCleared();
73 
76  virtual double timeToMinimumDistance(const DtVector & deltaVel,
77  const DtVector & deltaPos) const;
78 
79  virtual void registerTaskMsgCallbacks();
80 
82  virtual void clearCollision();
83 
84 protected:
85 
86 
92 
94  DtRotaryWingCollisionAvoidanceController();
95 
97  DtRotaryWingCollisionAvoidanceController
98  (const DtRotaryWingCollisionAvoidanceController& orig);
99 
101  DtRotaryWingCollisionAvoidanceController& operator=
102  (const DtRotaryWingCollisionAvoidanceController& orig);
103 
104 
106  virtual void checkMinDiveAltitude();
107 
110  virtual void pilotProperties();
111 
112 protected:
114  DtManagedObjectListConstPtr myPhysicalEntityList;
115 
117  DtVector myEvadeDirection;
118  DtReal myRelativeVelMag;
119  DtReal myCurrentDistanceSq;
121  DtVector myClearingPt;
122 
123  DtSharedVrfObjectReference myCollidee;
124  bool myHavePortGroup;
125  bool myIsColliding;
126  bool myIsClearing;
127  bool myTooLow;
128  DtRotaryWingColAvoidanceControllerDescriptor *
129  myAvoidanceControllerDescriptor;
130 };
131 
Document ID: Generated on Mon Jul 4 01:00:18 EDT 2016 from SVN revision 166489
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